EP1770364A2 - Procédés et appareil de surveillance de position en temps réel à l'aide de la navigation interne - Google Patents
Procédés et appareil de surveillance de position en temps réel à l'aide de la navigation interne Download PDFInfo
- Publication number
- EP1770364A2 EP1770364A2 EP06121282A EP06121282A EP1770364A2 EP 1770364 A2 EP1770364 A2 EP 1770364A2 EP 06121282 A EP06121282 A EP 06121282A EP 06121282 A EP06121282 A EP 06121282A EP 1770364 A2 EP1770364 A2 EP 1770364A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- pos
- point
- wander
- error
- ins
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title abstract description 15
- 230000007704 transition Effects 0.000 claims abstract description 12
- 239000011159 matrix material Substances 0.000 claims description 24
- 238000005259 measurement Methods 0.000 claims description 9
- 230000000644 propagated effect Effects 0.000 claims description 3
- 230000003190 augmentative effect Effects 0.000 claims description 2
- 238000005266 casting Methods 0.000 claims description 2
- 238000004590 computer program Methods 0.000 description 3
- 238000013523 data management Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Definitions
- This invention relates generally to determining a position of a vehicle, and more specifically, to methods and apparatus for real time position surveying using Inertial Navigation Systems (INS).
- INS Inertial Navigation Systems
- GPS Global Positioning Systems
- a method for determining the relative position of two or more points using an inertial navigation system comprises estimating position error states and a position solution with an INS at a first position, estimating position error states and a position solution with the INS at one or more subsequent positions, returning the INS to the first position, and adjusting estimates of the first and subsequent position error states based on correlations developed during a transition returning the INS from the second position to the first position.
- a system for determining the relative position of two or more points comprises an inertial navigation system and a computer based system communicatively coupled to the INS.
- the INS is configured to estimate position error states and position solutions for at least two INS positions.
- the computer based system further comprises a filter programmed to adjust estimates of the position error states based on correlations developed during a transition where the INS returns to a first INS position, point A, from one or more subsequent INS positions.
- a data management system configured to receive inertial data from an inertial navigation system
- the data management system comprises at least one processor programmed to estimate position error states and position solutions for INS positions, and a filter programmed to adjust estimates of the position error states based on correlations developed during a transition of the INS from a subsequent INS position back to a first INS position.
- the methods and apparatus described herein provide for the relative position of two locations on the earth to be very accurately measured, using inertial navigation as a basis. Further, the position is accurately determined without utilizing external aiding sources such as the Global Positioning System (GPS).
- GPS Global Positioning System
- FIG. 1 is a block diagram of an inertial navigation system (INS) 10 interfaced to a computer based system 20, for example, a data management system.
- Inertial data is provided to INS 10, at least in one embodiment, from one or more gyroscopes 30 and accelerometers 40.
- INS 10 formats the inertial data received from gyroscopes 30 and accelerometers 40 and transmits the formatted inertial data to computer based system 20.
- Computer based system 20 includes a computer program that causes the computer therein to process data received from inertial navigation system (INS) 10.
- INS inertial navigation system
- an enhancement to the computer program allows the relative position of two points to be determined more accurately than a standalone INS 10 is capable of measuring. More specifically, a data smoothing technique is incorporated within the computer program which provides a position result without the need for lengthy offline data processing.
- the program run within computer based system 20 includes a recursive filter 50, for example a Kalman filter, that is configured to estimate and correct errors associated with the inertial data received from INS 10.
- the recursive filter 50 utilize zero position change updates as occasional observations of INS velocity error propagation.
- the filter 50 is augmented to contain six extra states which represent the position error at two estimation points, and further incorporates the processing for utilization of these states.
- the two estimation points are sometimes referred to herein as points A and B, or as a first position and a second position, and includes the special processing required to utilize the six extra states.
- Points A and B and a sample surveying pattern therebetween are illustrated in Figure 2.
- Computer based system 20 is programmed to, via recursive filter 50, copy a current position error state into point A error states, which are a portion of the six extra states.
- Computer based system 20 further stores a current position solution for point A.
- INS 10 is transported to point B and is held stationary for approximately the same period of time.
- Filter 50 is again updated to copy the current position error state into point B error states, and the current position solution is stored for point B.
- INS 10 is again transported back to point A and held stationary for a period of time. At this point, filter 50 is updated with differences between the current position solution and the previously stored point A position.
- a filter observation matrix for this update of filter 50 is formed to observe the current position error states minus the point A error states.
- This update of filter 50 adjusts the estimates of the point A and B position errors based on the correlations developed in a filter covariance matrix during the transitions between points A and B.
- Final point A and B position estimates are formed by adding the point A and B estimated errors to the previously stored position values.
- the Kalman filter embodiment of filter 50 within computer based system 20 processes inertial measurement data from INS 10 to produce real time estimates of position and velocity. More specifically, filter 50 maintains an error covariance matrix which contains information regarding the expected error in each state estimate and the correlations between the various error states associated, for example, with points A and B.
- computer based system 20 Upon returning to point A, computer based system 20 is configured to apply a measurement update to filter 50.
- the measurement includes the difference between the current navigation position and the position recorded at the first visit to point A. The differences result in the following observation matrix entries for the updating of point A position are shown below.
- point B position error states are not explicitly observed, they are updated via the cross correlations developed by the propagation of the P matrix (using the equation above) during the transit back to point A.
- the final solution for the positions of points A and B are the positions recorded when first visited by the survey vehicle, minus the error estimates provided by the processing contained in the POS_A_... and POS_B_... states.
- PosA PA ⁇ ⁇ ⁇ E - X ⁇ POS ⁇ ⁇ ⁇ A ⁇ ⁇ ⁇ E PA ⁇ ⁇ ⁇ N - X ⁇ ( POS ⁇ ⁇ ⁇ A ⁇ ⁇ ⁇ N ) PA ⁇ ⁇ ⁇ A - X ⁇ ( POS ⁇ ⁇ ⁇ A ⁇ ⁇ ⁇ A )
- PosB PB ⁇ ⁇ ⁇ E - X ⁇ POS ⁇ ⁇ B ⁇ ⁇ ⁇ E PB ⁇ ⁇ ⁇ N - X ⁇ ( POS ⁇ ⁇ ⁇ B ⁇ ⁇ N ) PB ⁇ ⁇ ⁇ A - X ⁇ ( POS ⁇ ⁇ ⁇ B ⁇ ⁇ ⁇ A )
- PA_E , PA _ N , PA_A are the casting, northing, and altitude navigator position coordinates recorded at the first visit to point A, PB_E , PB_N ,
- Figure 3 is a flowchart 100 that generally illustrates the above described methods for determining the relative position of two points using inertial navigation system 10.
- the method includes estimating 102 position error states and a position solution with an INS at a first position, estimating 104 position error states and a position solution with the INS at a second position, and returning 106 the INS to the first position.
- points A estimates of the first and second position error states are adjusted 108 based on correlations developed during a transition returning the INS from the second position to the first position.
- each subsequent position e.g., each interim point
- each subsequent position for which an INS position is determined involves configuring the recursive filter with error states for each interim point. Similar to the two position method (e.g., point A and point B) described above, as the INS (e.g., INS 10) is transported to each subsequent position and held stationary for a period of time, the recursive filter is updated to copy the current position error state into the respective position error states, and the current position solution for each subsequent position is stored.
- the recursive filter is updated with differences between the current position solution and the previously stored point A position. Similar calculations are performed when the INS is moved to a surveyed point other than the beginning point A.
- the filter observation matrix for the update of the recursive filter 50 is formed to observe the current position error states minus the starting point A error states in order to adjust the estimates of the interim point position errors based on the correlations developed in a filter covariance matrix during the transitions between the various interim points.
- Final position estimates are formed by adding the estimated errors for the interim points to previously stored position values.
- the recursive filter which may be a Kalman filter, maintains the error covariance matrix which contains information regarding the expected error in each state estimate and the correlations between the various error states associated, for example, with points A and B and any interim points therebetween.
- This error covariance matrix is propagated in time as the inertial data is processed similarly to that described above.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/237,259 US8718937B2 (en) | 2005-09-28 | 2005-09-28 | Methods and apparatus for real time position surveying using inertial navigation |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1770364A2 true EP1770364A2 (fr) | 2007-04-04 |
EP1770364A3 EP1770364A3 (fr) | 2008-03-05 |
EP1770364B1 EP1770364B1 (fr) | 2017-04-19 |
Family
ID=37561300
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06121282.5A Active EP1770364B1 (fr) | 2005-09-28 | 2006-09-26 | Appareil pour l'arpentage et détermination de position en temps réel à l'aide de la navigation inertielle |
Country Status (4)
Country | Link |
---|---|
US (1) | US8718937B2 (fr) |
EP (1) | EP1770364B1 (fr) |
KR (1) | KR20070036009A (fr) |
IL (1) | IL178337A (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105651309A (zh) * | 2015-12-29 | 2016-06-08 | 北京贞正物联网技术有限公司 | 一种自动惯导系统标定方法、装置及系统 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7328104B2 (en) * | 2006-05-17 | 2008-02-05 | Honeywell International Inc. | Systems and methods for improved inertial navigation |
US8068984B2 (en) * | 2006-10-17 | 2011-11-29 | Ut-Battelle, Llc | Triply redundant integrated navigation and asset visibility system |
US7626544B2 (en) * | 2006-10-17 | 2009-12-01 | Ut-Battelle, Llc | Robust low-frequency spread-spectrum navigation system |
JP5398120B2 (ja) * | 2007-03-22 | 2014-01-29 | 古野電気株式会社 | Gps複合航法装置 |
US8384487B2 (en) | 2011-04-08 | 2013-02-26 | Ut-Battelle, Llc | Orthogonally referenced integrated ensemble for navigation and timing |
GB2534833B (en) * | 2014-10-27 | 2020-07-01 | Atlantic Inertial Systems Ltd | Inertial navigation system |
DE102016222272B4 (de) * | 2016-11-14 | 2018-05-30 | Volkswagen Aktiengesellschaft | Schätzen einer Eigenposition |
DE112019003144T5 (de) * | 2018-06-22 | 2021-03-25 | Rohm Co., Ltd. | Positionserkennungssystem |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5331578A (en) | 1990-09-14 | 1994-07-19 | Deutsche Forschungsanstalt Fur Luft- Und Raumfahrt E.V. | Procedure for measuring angles and trajectories by means of gyros and inertial systems |
US6202535B1 (en) | 1997-01-17 | 2001-03-20 | L'etat Francais, Represente Par Le Delegue Ministeriel Pour L'armement | Device capable of determining the direction of a target in a defined frame of reference |
EP1291617A1 (fr) | 2001-09-06 | 2003-03-12 | DaimlerChrysler AG | Procédé et arrangement pour déterminer la position et l'orientation d'un dispositif de prise d'images pendant la mesure optique d'objets |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4060716A (en) * | 1975-05-19 | 1977-11-29 | Rockwell International Corporation | Method and apparatus for automatic abnormal events monitor in operating plants |
US4060718A (en) | 1976-12-10 | 1977-11-29 | Litton Systems, Inc. | Geodetic survey method |
US4168524A (en) | 1977-09-29 | 1979-09-18 | The Charles Stark Draper Laboratory, Inc. | Airborne surveying apparatus and method |
JPH0814494B2 (ja) | 1987-06-15 | 1996-02-14 | 株式会社トキメック | 位置検出装置 |
JPH04203932A (ja) | 1990-11-29 | 1992-07-24 | Mitsubishi Electric Corp | 走行情報表示装置 |
JPH04203931A (ja) | 1990-11-29 | 1992-07-24 | Mitsubishi Electric Corp | 走行情報表示装置 |
US5272639A (en) | 1992-01-14 | 1993-12-21 | Honeywell Inc. | Terrain referenced navigation electromagnetic-gravitational correlation |
US5335181A (en) | 1992-01-15 | 1994-08-02 | Honeywell Inc. | Terrain referenced navigation--woods data base model |
US5331562A (en) | 1992-01-16 | 1994-07-19 | Honeywell Inc. | Terrain referenced navigation-adaptive filter distribution |
JPH05248882A (ja) | 1992-03-06 | 1993-09-28 | Japan Aviation Electron Ind Ltd | 慣性装置 |
JPH0634379A (ja) | 1992-07-20 | 1994-02-08 | Hitachi Ltd | ナビゲーション装置 |
US5617317A (en) | 1995-01-24 | 1997-04-01 | Honeywell Inc. | True north heading estimator utilizing GPS output information and inertial sensor system output information |
US5923286A (en) | 1996-10-23 | 1999-07-13 | Honeywell Inc. | GPS/IRS global position determination method and apparatus with integrity loss provisions |
US6140957A (en) | 1998-03-12 | 2000-10-31 | Trimble Navigation Limited | Method and apparatus for navigation guidance |
US6834234B2 (en) * | 2000-11-22 | 2004-12-21 | Trimble Navigation, Limited | AINS land surveyor system with reprocessing, AINS-LSSRP |
WO2004048892A1 (fr) | 2002-11-22 | 2004-06-10 | Reduct | Procede de determination du chemin d'une trajectoire geographique |
-
2005
- 2005-09-28 US US11/237,259 patent/US8718937B2/en active Active
-
2006
- 2006-09-26 EP EP06121282.5A patent/EP1770364B1/fr active Active
- 2006-09-27 IL IL178337A patent/IL178337A/en not_active IP Right Cessation
- 2006-09-28 KR KR1020060095115A patent/KR20070036009A/ko not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5331578A (en) | 1990-09-14 | 1994-07-19 | Deutsche Forschungsanstalt Fur Luft- Und Raumfahrt E.V. | Procedure for measuring angles and trajectories by means of gyros and inertial systems |
US6202535B1 (en) | 1997-01-17 | 2001-03-20 | L'etat Francais, Represente Par Le Delegue Ministeriel Pour L'armement | Device capable of determining the direction of a target in a defined frame of reference |
EP1291617A1 (fr) | 2001-09-06 | 2003-03-12 | DaimlerChrysler AG | Procédé et arrangement pour déterminer la position et l'orientation d'un dispositif de prise d'images pendant la mesure optique d'objets |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105651309A (zh) * | 2015-12-29 | 2016-06-08 | 北京贞正物联网技术有限公司 | 一种自动惯导系统标定方法、装置及系统 |
CN105651309B (zh) * | 2015-12-29 | 2018-11-16 | 北京贞正物联网技术有限公司 | 一种自动惯导系统标定方法、装置及系统 |
Also Published As
Publication number | Publication date |
---|---|
IL178337A (en) | 2013-12-31 |
EP1770364A3 (fr) | 2008-03-05 |
US20070073481A1 (en) | 2007-03-29 |
IL178337A0 (en) | 2007-02-11 |
KR20070036009A (ko) | 2007-04-02 |
US8718937B2 (en) | 2014-05-06 |
EP1770364B1 (fr) | 2017-04-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1770364B1 (fr) | Appareil pour l'arpentage et détermination de position en temps réel à l'aide de la navigation inertielle | |
Wendel et al. | A performance comparison of tightly coupled GPS/INS navigation systems based on extended and sigma point Kalman filters | |
US7139651B2 (en) | Multi-source positioning system for work machines | |
CN103913181B (zh) | 一种基于参数辨识的机载分布式pos传递对准方法 | |
EP4303630A2 (fr) | Gnss et système de navigation inertiel utilisant un lacet relatif comme observable pour un filtre ins | |
EP1642089B1 (fr) | Procede et systeme destines a augmenter la precision de mesures de navigation inertielle au moyen de gradients de gravite mesures et stockes | |
CN108732603A (zh) | 用于定位车辆的方法和装置 | |
García et al. | Augmented state Kalman filtering for AUV navigation | |
US20120059554A1 (en) | Automatic Blade Control System during a Period of a Global Navigation Satellite System ... | |
US20140277956A1 (en) | System and method for heavy equipment navigation and working edge positioning | |
CN110146076A (zh) | 一种无逆矩阵自适应滤波的sins/dvl组合定位方法 | |
KR20130068399A (ko) | 레이더 시스템의 오차 보정 장치 및 방법 | |
US8949027B2 (en) | Multiple truth reference system and method | |
WO2013080183A9 (fr) | Processus d'intégration gnss-ins en configuration quasi groupée | |
CN113203418A (zh) | 基于序贯卡尔曼滤波的gnssins视觉融合定位方法及系统 | |
JP2011127939A (ja) | 移動体位置推定追尾装置、移動体位置推定追尾方法、及び移動体位置推定追尾プログラム | |
JP5046601B2 (ja) | 慣性航法を使用した実時間位置測量のための方法及び装置 | |
CN109470251A (zh) | 一种用于组合导航系统中的部分反馈滤波方法 | |
EP3631515B1 (fr) | Procédé d'estimation d'une position d'un dispositif mobile à l'aide de signaux gnss | |
JP4884109B2 (ja) | 移動軌跡算出方法、移動軌跡算出装置及び地図データ生成方法 | |
US11762104B2 (en) | Method and device for locating a vehicle | |
Nassar et al. | Accurate INS/GPS positioning with different inertial systems using various algorithms for bridging GPS outages | |
Cho et al. | IMM-based INS/EM-log integrated underwater navigation with sea current estimation function | |
Fernández et al. | Development of a simulation tool for collaborative navigation systems | |
US20220074747A1 (en) | Method for determining the position and the orientation of a vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL BA HR MK YU |
|
PUAL | Search report despatched |
Free format text: ORIGINAL CODE: 0009013 |
|
AK | Designated contracting states |
Kind code of ref document: A3 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL BA HR MK YU |
|
17P | Request for examination filed |
Effective date: 20080903 |
|
AKX | Designation fees paid |
Designated state(s): DE FR GB |
|
17Q | First examination report despatched |
Effective date: 20081017 |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: HONEYWELL INTERNATIONAL INC. |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
INTG | Intention to grant announced |
Effective date: 20161129 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): DE FR GB |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 602006052297 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 12 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 602006052297 Country of ref document: DE |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
26N | No opposition filed |
Effective date: 20180122 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 13 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: GB Payment date: 20180928 Year of fee payment: 13 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20181130 Year of fee payment: 13 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 602006052297 Country of ref document: DE |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20200401 |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20190926 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20190926 |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230525 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20230926 Year of fee payment: 18 |